I'm a French software developer, with some friends I prepare an autonomous robot for a French/European competition ( the Coupe de France de Robotique (in French) or Eurobot). We use a PIC microcontroller (16F877) to control the motors of our robot and a Motorola 68k target with a real-time executive for the high level processing.

I work mainly on the PID regulation with the PIC, I use Gpasm, C2C (a C compiler for PIC) and Picprog under Linux. There's a small description of these tools on http://botzilla.free.fr .